Apparatus for moving and orienting limp pieces of material



April 16, 1968 D. BOYNTON ETAL 3,

APPARATUS FOR MOVING AND OR'lENTlNG LIMP PIECES OF MATERIAL Filed June16, 1966 2 Sheets-Sheet 1 A E'EL 22 lswmm! n ,|s 2 lSwlTCHI y I 1 I ESUPPLY 1 ---4 ,----1 L --"L- ::J"L- 7 :J-' I r --1 r I 2| 24 I5 |4 L 1l8 l4 I9 I im H x I?) PICKUP SUPPLY OR I? WORK DEVICE Fig. 1

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SENS? 2s 30 OR so i I 3112a Y L 3 27 EH3 [n] 4 4 SUPPLY-- 1 x PICKUPWORK Flg. 3 DEVICE 25 Ire D. Boyniton -Q Robert H. Bode 6 37 INVENTORSFig. 4 BY Attorney April 16, 1968 1. o. BOYNTON ETAL 3,378,257

APPARATUS FOR MOVING AND ORIENTING LIMP PIECES OF MATERIAL 2Sheets-Sheet Filed June 16, 1966 Fig. 5 Fig 6 AC PHOTO- 67 ELECTRICSWITCH Fig. 7

7 Ira D. Boynron Robert H. Bode INVENTORS Attorney United States Patent3,378,257 APPARATUS FOR MOVING AND ORIENTING LIMP PIECES OF MATERIAL IraD. Boynton, Lexington, and Robert H. Bode, Wenham, Mass., assignors, bymesne assignments, to the United States of America as represented by theSecretary of Commerce Filed June 16, 1966, Ser. No. 557,992 Claims. (Cl.271-84) ABSTRACT OF THE DISCLOSURE An arrangement for transporting atleast one piece of limp material from an unaligned position on aplatform to a delivery point in a desired alignment. The piece may bemoved in the x direction by means of gravity and in the y direction bymeans of vibration, or in the x and y directions by means of vibration.Sensing means monitor the presence of the piece in the desiredalignment.

This invention relates to the automatic handling and processing offabrics and particularly to the positioning of pieces of flexiblematerial, such as limp pieces of fabric, cloth or paper, to move andorient them into a desired location.

In manufacturing certain items formed from woven or nonwoven fabrics orknit fabrics, cloth, or paper it is desirable to be able to perform anumber of steps automatically. For example, to place one or moreworkpieces in a position before the needle of a sewing machine forstitching it is necessary to pick up, move, orient, and align the pieceor pieces for stitching. The order of these steps may vary fromoperation to operation and one or more of them may be omitted orrepeated depending upon the workpieces, the manner in which they aresupplied, and the operation or operations to be performed. Thisinvention is concerned with the moving and orienting or aligning of oneor more pieces of limp material such as a piece of cloth, fabric, orpaper. The method and apparatus of this invention are particularly welladapted for incorporation in automated sewing devices.

In the prior art devices the moving of a piece of flex ible material hasbeen accomplished through the use of such apparatus as endless belts,suction devices, and adhesive surfaces. Orientation of the piece orpieces during movement from one location to another has not receivedserious consideration, the solution normally used being to rely upon theoriginal placement by a human operator of the piece within or on themoving mechanism to insure proper orientation at the delivery point.

If such an operation as sewing either on a single piece of material(e.g., hemming) or on two or more pieces of material (e.g., seaming) isto be fully automated, it is necessary that the piece or pieces bepresented at the work point, e.g., sewing machine needle in a properlyaligned condition. Such alignment must be completely reproducible andsubject to continuous control.

It is therefore a primary object of this invention to provide anapparatus which is capable of moving one or more limp pieces of materialthrough a substantially horizontal plane in a manner to orient the pieceor pieces within the plane to present it or them at a desired point in apredetermined orientation. It is another object of 'ice this inventionto provide an apparatus of the character described which lends itself tomonitoring which in effect is a final determination of the achievementof delivery and orientation of the piece just prior to its being pickedup or worked on directly. It is another object of this invention toprovide such apparatus which is capable of moving limp pieces ofmaterial without wrinkling or buckling them, so aligned that a straightor contoured edge is positioned where desired and in a manner such thatthe edge is flat and ready to be worked on. It is yet another object toimpart a degree of stiffness to the edge of the limp piece during movingand, if desired, during the presentation of the piece to a work point.Other objects of the invention will in part be obvious and will in partbe apparent hereinafter.

The invention accordingly comprises features of construction,combinations of elements, and arrangement of parts which will beexemplified in the following detailed disclosure; and the scope of theinvention will be indicated in the claims.

For a fuller understanding of the nature and objects of the invention,reference should be had to the following detailed description taken inconnection with the accompanying drawings in which:

FIG. 1 is a schematic drawing of one modification of the invention;

FIG. 2 is a cross-section through the modification of FIG. 1 taken alongline 22 of FIG. 1;.

FIG. 3 is a schematic drawing of another modification of this invention;

FIG. 4 is a cross-section through the modification of FIG. 3 taken alonglines 4-4 of FIG. 3

FIG. 5 is an end elevational view in detail of the apparatus of FIG. 1;

FIG. 6 is a partial side elevational view of the apparatus of FIG. 1;and

FIGS. 7 and 8 are cross-sectional drawings illustrating two types ofsensing means.

The apparatus for moving a limp fabric piece or pieces to a pretermineddelivery point, which may be a pickup point or a work point, comprises asubstantially horizontal platform, means to vibrate the platform in adirection to advance the limp piece and to bring it into edge contactwith an arresting member, and sensing means positioned at thepredetermined delivery point to monitor the proper orientation of thelimp piece and, if desired, to actuate various other mechanismsincluding means for starting and stopping the vibrating means anddelivery and pickup means. In moving the limp piece, it is generallydesirable to be able to orient it and move it in both the x and ydirections. The movement and orientation in one of these directions maybe performed either through the use of an additional vibrating means orit may be accomplished through the use of gravity. Embodiments of bothof these modifications are illustrated in the following description.

FIG. 1 is a schematic diagram of the apparatus of this inventionemploying gravity to obtain movement and orientation in the onedirection. In the apparatus of FIG. 1, there is provided a substantiallyhorizontal platform defining on its surface the plane over which thelimp piece of material is to be moved. The platform 10, as will beapparent in FIG. 2, is positioned with respect to the horizontal at anangle a. This angle is of sufiicient magnitude to cause the limp pieceto move by gravity against the vertically-positioned arresting member11; but it is not great enough to cause the limp piece of fabric towrinkle or turn over.

Returning to FIG. 1, it will be seen that in this modificalion there isillustrated the movizw and orienting of two pieces of limp material, oneon top of the other. The bottom piece 14 is first supplied from a source15 by any suitable pickup means such as those which include suctionmeans, adhesive surfaces, or an endless belt arrangement. The manner inwhich the limp fabric pieces are deposited on the platform 10 at thesupply point is not part of this invention. In the embodiment in FIG. 1,a second smaller piece of limp material 16 is supplied from source 17and placed on top of limp piece 14. Two vibrating means 18 and 19, whichwill be explained in detail with regard to FIGS. 5 and 6, are outlinedby dotted lines in the diagram of FIG. 1. Located at the pickup or workpoint on the horizontal plane is a sensing means 20 which is adapted todetermine whether or not proper orientation of limp pieces 14 and 16 hasbeen attained. This sensing may also be used to actuate a suitablepickup device or a work device, e.g., sewing machine needle, designed toperform work on the limp piece or pieces delivered to it. Typicalsensing means are described in detail with reference to FIGS. 7 and 8.

In the embodiment of FIGS. 1 and 2 the movement of orientation in the ydirection (as noted on the figures) are achieved through gravity, thevibrating platform 10 being oriented with respect to the horizontalthrough angle a. In the embodiment in FIGS. 3 and 4 movement in the ydirection is achieved through the use of an additional vibrating meanswhich can be vibrated out of phase with the vibrating means which movesthe limp piece in the x direction. As will be Seen in FIGS. 3 and 4, inthis embodiment the vibrating horizontal platform need not be placed atan angle with the horizontal. In this modification, two substantiallyvertical members 26 and 27 serve as arresting members so that when thelimp piece 36 which is to be moved reaches the desired pickup or workpoint, it is oriented to make contact along two edges with thesevertical arresting members. The embodiment of FIG. 3 also illustratesthe use of perforations 28 in the platform 25 at the pickup or Workpoint. These may be desirable if the pickup means used is one which isbased upon the employment of vacuum to lift and hold the limp piece.

In the modification of FIGS. 3 and 4, there are shown two vibratingmeans 36 and 37 which are capable of being operated out of phase witheach other. Thus, for example, as vibrating means 36 is used to move thelimp piece in the x direction, vibrating means 37, operating out ofphase with means 36, can be used to move the limp piece in the ydirection.

FIGS. 5 and 6 are end and side elevational views, respectively, showingan embodiment of the modification of the apparatus of FIG. 1. In thesefigures, like members refer to like elements in FIGS. 1 and 2. It willbe appreciated that any suitable means for vibrating the platform 10 maybe used and that those illustrated in FIGS. 5 and 6 are illustrative andnot limiting. In order to mount the vibrating platform 16, which ispositioned at a small angle to achieve gravity movement of limp piece14, it is necessary to use a Wedge-shaped adaptor piece 39 which isattached to two parallel driven members 40 through a driving member 41.Suitable means for attaching the driven and driving members, such as aplate 42 and screws 43, are provided. The lower ends of the drivenmembers 49 are suitably grounded to a support 47 through the use ofplates and screws 46. The driving member 41 is actuated by a solenoiddevice which is schematically shown in FIG. 6 as being comprised of anarmature 5t) oscillating within a suitable stator 51, the device beingwired to a source of periodic electric energy such as 110- volt ACcurrent. A number of different vibrating devices are known in the art.For example, one based on the use of an eccentric drive mechanism mayalso be used.

The vibrating platform may be operated in a number of different ways,two of which are illustrated diagrammatically in FIGS. 1 and 3. It maybe continuously vibrated, as in the FIG. 3 modification, in which caseit is not necessary to provide means which automatically start and stopthe vibrating means. In this case, the mechanism which follows themoving and orienting apparatus of this invention (e.g., pickup or workdevice) may be so designed as to be actuated through switch 21 at thetime the sensing means 20 indicates that the piece has reached thedesired orientation. Since movement and orientation with the vibratingplatform imparts a degree of stiffness to the edge of the limp piecebeing handled, the vibrating platform may, if desired, be positioneddirectly ahead of the work point and be used to introduce the limp pieceinto the working mechanism. The supply mechanism 31 for depositing thelimp material onto the vibrating platform can be so timed as to becoordinated with the arrival and orientation of a preceding piece at thedelivery point. The vibrating platform may, of course, handle more thanone piece at a time with the various pieces following each other inseries in their movement along the platform.

The pickup or work device associated with the point of delivery of thevibrating platform may, on the other hand, require that the vibratorymotion be stopped prior to pickup or take-over by working mechanism.Such an embodiment is illustrated in FIG. 1. In this case, the sensingmeans 20 may have associated with it suitable circuitry which willeffect the necessary stopping and restarting of the vibratory means asby switch 22 to coordinate the operation of the platform with supply anddelivery of the limp pieces. Such an arrangement will in turn requirethe use of suitable actuating means associated with the pickup orworking device (switch 21) and the supplying means (switches 23 and 24).

FIGS. 7 and 8 illustrate two different sensing means which may beincorporated in the vibrating platform at its delivery end as component20 of FIGS. 1 and 3. The first of these is a photocell device, thesecond a pressuresensitive device. The figures show a fragmentarycrosssection of the delivery end of the vibrating platform along withthe vertical arresting member 56. A small aperture 57 is drilled in thevibrating platform which must be of such a size that it defines anopening through the platform somewhat larger than twice the amplitude ofthe vibration, the limits of which are indicated by the dotted lines. Asthe limp piece 58 which is being moved approaches the ultimate deliverypoint it passes over the aperture 57 and in doing so closes it off atleast partially. In closing off the aperture the edge of the limp pieceactivates suitable switching means through the use of the apparatusshown in FIGS. 7 and 8.

In FIG. 7, there is provided a means 59 for supplying a collimated beamof light and passing it through the aperture onto a sensing device.Within this means, which is defined by a light-tight enclosure 60, is alight source 61 and suitable optical elements shown herein as lens 62.The light-tight enclosure has a small aperture 64 which is in axialalignment with the aperture 57 in the vibrating platform. Thus, there isprovided a collimated beam 63 of radiant energy to the detecting meanswhich herein consists of a light-tight housing 65 having an aperture 66in axial alignment with apertures 64- 'and 57. Positioned within thishousing is a photocell 67 which is connected through suitable electricalcircuitry to a photoelectric switch 68 of any suitable known type. Thephotoelectric switch, in turn, may be connected to other mechanisms inthe apparatus such as the vibrating means, the pickup means associatedwith the supply of the limp fabric, the pickup means associated with thedelivery of the limp fabric, or a working mechanism.

The sensing device of FIG. 8 is based upon the use of fluid pressure,the flow of which is interrupted by the edge of the limp piece 58 as itpasses across aperture 57 in the vibrating platform 55. Pressurizedfluid, e.g., air, is provided through a suitable line and nozzle 70 froma source not shown. Prior to the time that the edge of the limp piecereaches the central position of aperture 57 a small stream ofpressurized fluid is free to pass through aperture 57 into a pressuresensing device 71. This device is made up of a fluid-tight enclosure 72which is conveniently suspended from a suitable mounting means 73independent from the v-ibnating platform. The fluidtight-enclosure andthe mounting means define a small fluid aperture 74 which is in axialalignment with the aperture 57 in the vibrating platform and with theopening in nozzle 70. Within the enclosure and mounted on a supportingring 77 is a fluid-actuatable bellows 7 6 which, through a rod 77, isconnected to a switch 78 actuatable by the vertical movement of the rod77. When aperture 57 in the vibrating platform is unobstructed by thefabric 58, a fluid pressure is exerted upon the top of bellows 76.However, when the edge of the limp piece 58 obstructs the flow of fluidthrough apertures 57 and 74, the force on the bellows is released, rod77 moves vertically upward, and the switch 78 is actuated. This switchin turn may be connected to any appropriate mechanism within theapparatus.

It has been found in the use of the vibrating platform to move andorient the limp piece that the motion imparted to the limp piece causesa temporary stiffening of its edgesan unexpected and importantadvantage. This edge stiffening permits accurate orientation throughedge contact with the arresting member. It also results in presentingthe limp piece in better condition for the next mechanism (e.g., pickupdevice or sewing machine needle) for it is not desirable to have any ofthe edges curled or out of line. Moreover, because of this stiffeningeffect the vibrating platform may be used to feed the limp piece up tothe work mechanism.

The frequency at which the platform is vibrated may vary over a widerange, e.g., from 20 to 80 cycles per second; and the rate at which thelimp piece is moved is a function of the frequency. However, the sizeand Weight of the limp piece also affects this rate. As an example,pieces of denim and cotton shirting were moved at a rate between 4 and 6inches per second using 60 cycles per second vibration.

The apparatus of this invention thus provides an important component inan automated handling device, for it provides means for taking one ormore limp pieces of fabric in an unaligned condition and moves it orthem to a predetermined delivery point in a desired alignment.

It is therefore not necessary to rely upon accurate alignment in asupply stack to achieve accurate alignment at a delivery or work point.

It will thus be seen that the objects set forth above, among those madeapparent from the preceding description, are efficiently attained and;since certain changes may be made in the above construction withoutdeparting from the scope of the invention, it is intended that allmatter contained in the above description or shown in the accompanyingdrawings shall be interpreted as illustrative and not in a limitingsense.

It is also to be understood that the following claims are intended tocover all of the generic and specific features of the invention hereindescribed, and all statements of the scope of the invention which, as amatter of language, might be said to fall therebetween.

We claim:

1. An apparatus for moving a limp piece of material in a plane and fororienting said piece in said plane, comprising in combination (a) aplatform defining said plane on its surface;

(b) first arresting means defining the position of one edge of saidpiece at a predetermined delivery point;

(e) means for positioning said plane at an angle with a horizontal linesufficient to move said piece without wrinkling by means of gravitytoward said first arresting member;

(d) means for vibrating said platform in a direction to advance saidmaterial in said plane and to bring its edge in contact with said firstarresting means; and

(e) sensing means for monitoring: the arrival of said piece at saiddelivery point.

2. The apparatus in accordance with claim 1 wherein said platform has anaperture located at a point corresponding to the position of the leadingedge of said piece when it has reached said predetermined deliverypoint, and said sensing means are associated with said aperture, wherebythe arrival of said leading edge over at least a portion of saidaperture actuates said sensing means.

3. An apparatus in accordance with claim 2 wherein said sensing meanscomprises in combination (a) means on one side of said platform fordirecting a collimated beam of light through said aperture;

(b) lightresponsive means on the other side of said platform fordetecting said beam of light, and

(0) switch means connected to said detecting means and actuable thereby.

4. An apparatus in accordance with claim 2 wherein said sensing meanscomprises in combination (a) means on one side of said platform fordirecting a small stream of a pressurized fluid through said aperture;

(b) pressure-responsive means on the other side of said platform; and

(c) switch means connected to said pressure-responsive means andactuable thereby.

5. An apparatus for moving a limp piece of material in a substantiallyhorizontal plane and for orienting said piece in said plane, comprisingin combination (a) a substantially horizontal platform defining saidplane on its surface;

(b) first arresting means defining the position of one edge of saidpiece at a predetermined delivery point;

(e) means for vibrating said platform in one direction to advance saidmaterial in said. plane and to bring its first edge in contact with saidfirst arresting means;

(d) second arresting means defining the position of a second edge ofsaid piece at said delivery point;

(e) means for vibrating said platform in another direction to advancesaid material in said plane and to bring its second edge in contact withsaid second arresting means; and

(f) sensing means for monitoring the arrival of said piece at saiddelivery point.

6. An apparatus in accordance with claim 5 wherein at least one of saidvibrating means is. adapted to be operated out of phase with said othervibrating means whereby said piece may be moved first in one directionand then in the other direction in said plane.

7. An apparatus in accordance with claim 5 further characterized in thatsaid platform is perforated in the region of said delivery point wherebytransfer of said piece from said platform may be accomplished throughvacuum pickup means.

8. An apparatus in accordance with claim 5 wherein said substantiallyhorizontal platform has an aperture located at a point corresponding tothe position of the leading edge of said limp piece when it has reachedsaid predetermined delivery point, and said sensing means are associatedwith said aperture, whereby the arrival of said leading edge over atleast a portion of said aperture actuates said sensing means.

-9. An apparatus in accordance with claim 5 wherein said sensing meanscomprises in combination (a) means on one side of said platform fordirecting a collimated beam of light through said aperture;

(b) light-responsive means on the other side of said platform fordetecting said beam of light; and

7 8 (c) switch means connected to said detecting means (c) switch meansconnected to said pressure-responsive and actuatable thereby. means andactuatable thereby. 10. An apparatus in accordance with claim 5 whereinsaid sensing means comprises in combination References Cited (a) meanson one side of said platform for directing 5 FOREIGN PATENTSgpgirtlgilmstream of a pressurized flllld through said 703,492 2/1954Great Britain.

(1)) pressure-responsive means on the other side of said platform andEDWARD A. SROKA, Primary Examiner.

